Fuzzy sliding-mode control based on state for robotic manipulators

In this paper, a novel fuzzy sliding mode controller for robotic manipulator is proposed. The use of a boundary layer in sliding-mode control has been a common technique to reduce chattering of the control signal. However, different choices of the boundary layer width lead to conflicting effects: A large/small width of the boundary layer can more/less effectively alleviate the chattering of the control, but can lead to less/more accurate control results. This note applies fuzzy logic based on the state to adjusting the width of the boundary layer. This method can effectively eliminate chattering while at the same time ensure almost perfect control accuracy.